I don't know. If Protocols for Segwit, Taproot can reach to consensus, why a protocol to change its total supply can not be submitted and voted?
It can be submitted, sure, but it will be widely rejected by the community. Why would every node and every miner agree to change which would devalue current coins and therefore make them all lose money? Someone can even create a fork which increases the block reward or slows down halvings or whatever in order to breach the 21 million coin limit, but no one will use it.
Irrecoverable Bitcoins that were sadly lost due to lost private keys? Will it be circulating again?
Many will eventually be recovered when the ECDLP is eventually broken (presumably) by quantum computers. But many will remain lost forever.
My question is will there be some sort of protocol to extract or mine more coins to maintain a circulating supply of exactly 21 million BTC? Maybe every 50-100 years a dormant coin will be unlocked for mining by miners?
You are talking about a tail emission, in order to maintain the circulating supply at close to 21 million. If you are interested, there was a long discussion about this on the mailing list recently (
https://lists.linuxfoundation.org/pipermail/bitcoin-dev/2022-July/020665.html), and also on the forum (
https://bitcointalk.org/index.php?topic=5405755.0).